| Title | Planar Motion and Hand-Eye Calibration Using Inter-Image Homographies from a Planar Scene |
| Authors | Mårten Wadenbäck, Anders Heyden |
| Full-text | Available as PDF |
| Publication | 8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013), Proceedings of |
| Year | 2013 |
| Pages | 164 - 168 |
| Document type | Conference paper |
| Conference name | 8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013) |
| Conference Date | 2013-02-21/2013-02-24 |
| Conference Location | Barcelona, Spain |
| Status | Published |
| Quality controlled | Yes |
| Language | eng |
| Publisher | SciTePress |
| Abstract English | In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about patterns of motion for which the method fails. |
| Keywords | Visual Navigation, Planar Motion, SLAM, Homography, Tilted Camera, |
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